X-Git-Url: https://git.gag.com/?p=fw%2Faltos;a=blobdiff_plain;f=src%2Fdrivers%2Fao_gps_ublox.c;h=2556d314547b08cd91a2a3971bf0166a7697a5ff;hp=22af413a0098008f2ed7dd1e1fa44834ef0c54f9;hb=7f46240dfc57164f0c1b0c4c4ed9695bca63860d;hpb=1085ec5d57e0ed5d132f2bbdac1a0b6a32c0ab4a

diff --git a/src/drivers/ao_gps_ublox.c b/src/drivers/ao_gps_ublox.c
index 22af413a..2556d314 100644
--- a/src/drivers/ao_gps_ublox.c
+++ b/src/drivers/ao_gps_ublox.c
@@ -26,11 +26,11 @@
 
 #include <stdarg.h>
 
-__xdata uint8_t ao_gps_new;
-__xdata uint8_t ao_gps_mutex;
-__pdata uint16_t ao_gps_tick;
-__xdata struct ao_telemetry_location	ao_gps_data;
-__xdata struct ao_telemetry_satellite	ao_gps_tracking_data;
+uint8_t ao_gps_new;
+uint8_t ao_gps_mutex;
+AO_TICK_TYPE ao_gps_tick;
+struct ao_telemetry_location	ao_gps_data;
+struct ao_telemetry_satellite	ao_gps_tracking_data;
 
 #undef AO_SERIAL_SPEED_UBLOX
 
@@ -58,8 +58,8 @@ struct ao_ublox_cksum {
 	uint8_t	a, b;
 };
 
-static __pdata struct ao_ublox_cksum ao_ublox_cksum;
-static __pdata uint16_t ao_ublox_len;
+static struct ao_ublox_cksum ao_ublox_cksum;
+static uint16_t ao_ublox_len;
 
 #if AO_UBLOX_DEBUG
 
@@ -152,11 +152,11 @@ static uint8_t data_byte(void)
 	return header_byte();
 }
 
-static char __xdata *ublox_target;
+static char *ublox_target;
 
 static void ublox_u16(uint8_t offset)
 {
-	uint16_t __xdata *ptr = (uint16_t __xdata *) (ublox_target + offset);
+	uint16_t *ptr = (uint16_t *) (void *) (ublox_target + offset);
 	uint16_t val;
 
 	val = data_byte();
@@ -166,16 +166,16 @@ static void ublox_u16(uint8_t offset)
 
 static void ublox_u8(uint8_t offset)
 {
-	uint8_t __xdata *ptr = (uint8_t __xdata *) (ublox_target + offset);
+	uint8_t *ptr = (uint8_t *) (ublox_target + offset);
 	uint8_t val;
 
 	val = data_byte ();
 	*ptr = val;
 }
 
-static void ublox_u32(uint8_t offset) __reentrant
+static void ublox_u32(uint8_t offset) 
 {
-	uint32_t __xdata *ptr = (uint32_t __xdata *) (ublox_target + offset);
+	uint32_t *ptr = (uint32_t *) (void *) (ublox_target + offset);
 	uint32_t val;
 
 	val = ((uint32_t) data_byte ());
@@ -203,7 +203,7 @@ struct ublox_packet_parse {
 };
 
 static void
-ao_ublox_parse(void __xdata *target, const struct ublox_packet_parse *parse) __reentrant
+ao_ublox_parse(void *target, const struct ublox_packet_parse *parse) 
 {
 	uint8_t	i, offset;
 
@@ -610,11 +610,13 @@ ao_gps_set_rate(uint8_t rate)
 }
 
 void
-ao_gps(void) __reentrant
+ao_gps(void) 
 {
 	uint8_t			class, id;
 	struct ao_ublox_cksum	cksum;
 	uint8_t			i;
+	AO_TICK_TYPE		packet_start_tick;
+	AO_TICK_TYPE		solution_tick = 0;
 
 	ao_gps_setup();
 
@@ -645,6 +647,8 @@ ao_gps(void) __reentrant
 		/* Locate the begining of the next record */
 		while (ao_ublox_byte() != (uint8_t) 0xb5)
 			;
+		packet_start_tick = ao_tick_count;
+
 		if (ao_ublox_byte() != (uint8_t) 0x62)
 			continue;
 
@@ -657,7 +661,7 @@ ao_gps(void) __reentrant
 		ao_ublox_len = header_byte();
 		ao_ublox_len |= header_byte() << 8;
 
-		ao_gps_dbg(DBG_PROTO, "class %02x id %02x len %d\n", class, id, ao_ublox_len);
+		ao_gps_dbg(DBG_PROTO, "%6u class %02x id %02x len %d\n", packet_start_tick, class, id, ao_ublox_len);
 
 		if (ao_ublox_len > 1023)
 			continue;
@@ -679,6 +683,7 @@ ao_gps(void) __reentrant
 				if (ao_ublox_len != 52)
 					break;
 				ao_ublox_parse_nav_sol();
+				solution_tick = packet_start_tick;
 				break;
 			case UBLOX_NAV_SVINFO:
 				if (ao_ublox_len < 8)
@@ -715,7 +720,7 @@ ao_gps(void) __reentrant
 			switch (id) {
 			case UBLOX_NAV_TIMEUTC:
 				ao_mutex_get(&ao_gps_mutex);
-				ao_gps_tick = ao_time();
+				ao_gps_tick = solution_tick;
 
 				ao_gps_data.flags = 0;
 				ao_gps_data.flags |= AO_GPS_RUNNING;
@@ -783,12 +788,12 @@ ao_gps(void) __reentrant
 #if AO_UBLOX_DEBUG
 static void ao_gps_option(void)
 {
-	ao_cmd_hex();
+	uint16_t r = ao_cmd_hex();
 	if (ao_cmd_status != ao_cmd_success) {
 		ao_cmd_status = ao_cmd_success;
 		ao_gps_show();
 	} else {
-		ao_gps_dbg_enable = ao_cmd_lex_i;
+		ao_gps_dbg_enable = r;
 		printf ("gps debug set to %d\n", ao_gps_dbg_enable);
 	}
 }
@@ -796,12 +801,12 @@ static void ao_gps_option(void)
 #define ao_gps_option ao_gps_show
 #endif
 
-__code struct ao_cmds ao_gps_cmds[] = {
+const struct ao_cmds ao_gps_cmds[] = {
 	{ ao_gps_option, 	"g\0Display GPS" },
 	{ 0, NULL },
 };
 
-__xdata struct ao_task ao_gps_task;
+struct ao_task ao_gps_task;
 
 void
 ao_gps_init(void)